EP4154788A4 - Linear laser beam-based method and device for obstacle avoidance - Google Patents

Linear laser beam-based method and device for obstacle avoidance

Info

Publication number
EP4154788A4
EP4154788A4 EP21837554.1A EP21837554A EP4154788A4 EP 4154788 A4 EP4154788 A4 EP 4154788A4 EP 21837554 A EP21837554 A EP 21837554A EP 4154788 A4 EP4154788 A4 EP 4154788A4
Authority
EP
European Patent Office
Prior art keywords
laser beam
based method
obstacle avoidance
linear laser
linear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21837554.1A
Other languages
German (de)
French (fr)
Other versions
EP4154788A1 (en
Inventor
Dezhong Yang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dreame Innovation Technology Suzhou Co Ltd
Original Assignee
Dreame Innovation Technology Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dreame Innovation Technology Suzhou Co Ltd filed Critical Dreame Innovation Technology Suzhou Co Ltd
Publication of EP4154788A1 publication Critical patent/EP4154788A1/en
Publication of EP4154788A4 publication Critical patent/EP4154788A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/30—Arrangement of illuminating devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Electric Vacuum Cleaner (AREA)
EP21837554.1A 2020-07-06 2021-06-11 Linear laser beam-based method and device for obstacle avoidance Pending EP4154788A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010640093.XA CN111743464A (en) 2020-07-06 2020-07-06 Obstacle avoidance method and device based on line laser
PCT/CN2021/099648 WO2022007591A1 (en) 2020-07-06 2021-06-11 Linear laser beam-based method and device for obstacle avoidance

Publications (2)

Publication Number Publication Date
EP4154788A1 EP4154788A1 (en) 2023-03-29
EP4154788A4 true EP4154788A4 (en) 2024-05-15

Family

ID=72679461

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21837554.1A Pending EP4154788A4 (en) 2020-07-06 2021-06-11 Linear laser beam-based method and device for obstacle avoidance

Country Status (6)

Country Link
US (1) US20230270309A1 (en)
EP (1) EP4154788A4 (en)
JP (1) JP2023532992A (en)
KR (1) KR20230023035A (en)
CN (1) CN111743464A (en)
WO (1) WO2022007591A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111743464A (en) * 2020-07-06 2020-10-09 追创科技(苏州)有限公司 Obstacle avoidance method and device based on line laser
CN112294197A (en) * 2020-11-04 2021-02-02 深圳市普森斯科技有限公司 Sweeping control method of sweeper, electronic device and storage medium
CN112783158A (en) * 2020-12-28 2021-05-11 广州辰创科技发展有限公司 Method, equipment and storage medium for fusing multiple wireless sensing identification technologies
CN112991527B (en) * 2021-02-08 2022-04-19 追觅创新科技(苏州)有限公司 Target object avoiding method and device, storage medium and electronic device
CN116087986A (en) * 2021-11-08 2023-05-09 追觅创新科技(苏州)有限公司 Self-mobile device, obstacle detection method for self-mobile device, and storage medium
CN114612786A (en) * 2022-03-18 2022-06-10 杭州萤石软件有限公司 Obstacle detection method, mobile robot and machine-readable storage medium
CN115607052A (en) * 2022-12-19 2023-01-17 科大讯飞股份有限公司 Cleaning method, device and equipment of robot and cleaning robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140088761A1 (en) * 2012-09-21 2014-03-27 Irobot Corporation Proximity Sensing On Mobile Robots
WO2016091291A1 (en) * 2014-12-10 2016-06-16 Aktiebolaget Electrolux Using laser sensor for floor type detection
US20170332862A1 (en) * 2016-05-17 2017-11-23 Lg Electronics Inc. Mobile robot and method of controlling the same
CN111093019A (en) * 2019-12-30 2020-05-01 科沃斯机器人股份有限公司 Terrain recognition, traveling and map construction method, equipment and storage medium
CN111142526A (en) * 2019-12-30 2020-05-12 科沃斯机器人股份有限公司 Obstacle crossing and operation method, equipment and storage medium

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7155308B2 (en) * 2000-01-24 2006-12-26 Irobot Corporation Robot obstacle detection system
US10617271B2 (en) * 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
DE102015006014A1 (en) * 2015-05-13 2016-11-17 Universität Bielefeld Soil cultivation device and method for its navigation and swarm of tillage equipment and methods for their joint navigation
CN106200652B (en) * 2016-09-29 2022-11-11 翁锦祥 Intelligent material handling system and handling method
CN106155066B (en) * 2016-09-29 2022-11-11 翁锦祥 Carrier capable of detecting road surface obstacle and carrying method
CN108444390B (en) * 2018-02-08 2021-01-26 天津大学 Unmanned automobile obstacle identification method and device
CN109765901A (en) * 2019-02-18 2019-05-17 华南理工大学 Dynamic cost digital map navigation method based on line laser and binocular vision
CN111743464A (en) * 2020-07-06 2020-10-09 追创科技(苏州)有限公司 Obstacle avoidance method and device based on line laser

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140088761A1 (en) * 2012-09-21 2014-03-27 Irobot Corporation Proximity Sensing On Mobile Robots
WO2016091291A1 (en) * 2014-12-10 2016-06-16 Aktiebolaget Electrolux Using laser sensor for floor type detection
US20170332862A1 (en) * 2016-05-17 2017-11-23 Lg Electronics Inc. Mobile robot and method of controlling the same
CN111093019A (en) * 2019-12-30 2020-05-01 科沃斯机器人股份有限公司 Terrain recognition, traveling and map construction method, equipment and storage medium
CN111142526A (en) * 2019-12-30 2020-05-12 科沃斯机器人股份有限公司 Obstacle crossing and operation method, equipment and storage medium

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2022007591A1 *

Also Published As

Publication number Publication date
KR20230023035A (en) 2023-02-16
US20230270309A1 (en) 2023-08-31
CN111743464A (en) 2020-10-09
EP4154788A1 (en) 2023-03-29
JP2023532992A (en) 2023-08-01
WO2022007591A1 (en) 2022-01-13

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